CN110917490B - Wax therapy manipulator and using method thereof - Google Patents
Wax therapy manipulator and using method thereof Download PDFInfo
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- CN110917490B CN110917490B CN202010094809.0A CN202010094809A CN110917490B CN 110917490 B CN110917490 B CN 110917490B CN 202010094809 A CN202010094809 A CN 202010094809A CN 110917490 B CN110917490 B CN 110917490B
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- 238000002560 therapeutic procedure Methods 0.000 title claims abstract description 14
- 238000000034 method Methods 0.000 title claims abstract description 8
- 230000007246 mechanism Effects 0.000 claims abstract description 59
- 239000000463 material Substances 0.000 claims abstract description 25
- 230000033001 locomotion Effects 0.000 claims abstract description 19
- 238000007493 shaping process Methods 0.000 claims abstract description 18
- 230000005540 biological transmission Effects 0.000 claims description 20
- 230000004048 modification Effects 0.000 claims description 15
- 238000012986 modification Methods 0.000 claims description 15
- 230000002457 bidirectional effect Effects 0.000 claims description 14
- 238000005520 cutting process Methods 0.000 claims description 11
- 238000003825 pressing Methods 0.000 claims description 9
- 230000000670 limiting effect Effects 0.000 claims description 8
- 238000005485 electric heating Methods 0.000 claims description 6
- 210000004907 gland Anatomy 0.000 claims description 4
- 239000001993 wax Substances 0.000 description 68
- 230000006872 improvement Effects 0.000 description 8
- 239000007788 liquid Substances 0.000 description 8
- 230000000694 effects Effects 0.000 description 7
- 239000003814 drug Substances 0.000 description 6
- 235000013871 bee wax Nutrition 0.000 description 5
- 239000012166 beeswax Substances 0.000 description 5
- 239000004575 stone Substances 0.000 description 5
- 238000010438 heat treatment Methods 0.000 description 4
- 230000002829 reductive effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 239000000203 mixture Substances 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 3
- 238000001467 acupuncture Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
- 238000002844 melting Methods 0.000 description 2
- 230000008018 melting Effects 0.000 description 2
- 230000008439 repair process Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 238000003786 synthesis reaction Methods 0.000 description 2
- 239000000341 volatile oil Substances 0.000 description 2
- 241000561734 Celosia cristata Species 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000001520 comb Anatomy 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000008595 infiltration Effects 0.000 description 1
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- 230000003068 static effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M37/00—Other apparatus for introducing media into the body; Percutany, i.e. introducing medicines into the body by diffusion through the skin
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H39/00—Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
- A61H39/04—Devices for pressing such points, e.g. Shiatsu or Acupressure
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/10—Characteristics of apparatus not provided for in the preceding codes with further special therapeutic means, e.g. electrotherapy, magneto therapy or radiation therapy, chromo therapy, infrared or ultraviolet therapy
- A61H2201/105—Characteristics of apparatus not provided for in the preceding codes with further special therapeutic means, e.g. electrotherapy, magneto therapy or radiation therapy, chromo therapy, infrared or ultraviolet therapy with means for delivering media, e.g. drugs or cosmetics
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M37/00—Other apparatus for introducing media into the body; Percutany, i.e. introducing medicines into the body by diffusion through the skin
- A61M2037/0007—Other apparatus for introducing media into the body; Percutany, i.e. introducing medicines into the body by diffusion through the skin having means for enhancing the permeation of substances through the epidermis, e.g. using suction or depression, electric or magnetic fields, sound waves or chemical agents
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- Veterinary Medicine (AREA)
- Public Health (AREA)
- Animal Behavior & Ethology (AREA)
- Rehabilitation Therapy (AREA)
- General Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Medical Informatics (AREA)
- Dermatology (AREA)
- Hematology (AREA)
- Heart & Thoracic Surgery (AREA)
- Anesthesiology (AREA)
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- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a wax therapy manipulator and a using method thereof. The manipulator comprises a rack fixedly arranged, a mechanical arm arranged on the rack and a holding seat arranged at the tail end of the mechanical arm, wherein a wax block is fixed on the holding seat, and the mechanical arm is used for driving the holding seat to realize spatial movement; the shaping mechanism comprises a blade and a material receiving box; the material receiving box is positioned below the blade and used for containing wax materials which are moved by the blade and are placed below the wax block when the wax block moves relative to the blade. The invention adopts the mechanical arm to replace manual operation, reduces the labor cost, lightens the labor intensity, improves the treatment efficiency, and has the advantages of controllable strength and speed.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a wax therapy manipulator and a using method thereof.
Background
The traditional wax therapy is to apply heated wax on the surface of the affected part, and to make the liquid medicine which is melted in the wax into the body under the heating condition, so as to achieve the purpose of treatment. In practice, the patient is in a static state during treatment, the effect of the liquid medicine is not obvious, and the treatment time is mainly prolonged to ensure the effect. And the wax is applied to the skin for a long time, and the comfort is poor.
The above problems can be solved by massage wax therapy. The method adopts a small-sized, low-temperature (about 40 ℃) and hard wax block to replace a large-area wax layer, and medicinal liquid components are dissolved in the wax block in advance. During treatment, the wax block is repeatedly massaged on the skin surface of a patient, particularly acupuncture points, coated with essential oil, the wax block is gradually melted by the heat of friction (the melting point of beeswax with liquid medicine is generally between 45 and 50 ℃, the beeswax cannot be completely melted after friction, and only the contact part of the beeswax and the skin can be melted and softened, so that the wax block is more suitable for massage), and meanwhile, the effects of massage, heating and liquid medicine infiltration are achieved, and the treatment effect is improved.
At present, the massage type wax therapy mainly depends on manual operation, and has the following problems: (1) the heating of the massage needs a certain massage speed and force, the labor intensity of operators is high, the efficiency is low, and the labor cost is high; (2) the manipulations of the operators are inconsistent, and the effect is poor; (3) after a period of massage, the shape of the wax block changes, the wax block needs to be replaced or modified, the replacement cost is high, the modification delays treatment, the wax block has certain hardness and viscosity, the modification needs to be forcibly cut by using a sharp cutting edge, and the operation is complex.
The prior art does not have a special medical apparatus for massage wax therapy, and only provides a manipulator device disclosed in the utility model with the publication number of CN 206733021U. The manipulator adopts a conventional joint manipulator structure, has 5 to 6 degrees of freedom, high cost and complex control, and simultaneously does not have the functions of grasping and repairing the wax block. On the other hand, the motion of this type of manipulator is that a plurality of joints realize through the motion synthesis, and the motion trail is the cockscomb structure, has slight vibration during the motion, even use this type of manipulator to grab and hold the wax stone and repair the type, also can't guarantee to repair the smoothness of type face.
Disclosure of Invention
The invention provides a wax therapy manipulator and a use method thereof, and aims to provide a wax therapy manipulator which comprises the following steps: (1) the special mechanical arm is adopted to replace manual massage wax therapy, so that the labor intensity is reduced, the operation efficiency is improved, the labor cost is reduced, the massage strength and speed are controllable, and the effect is improved; (2) realize the automatic modification of wax stone, especially provide a strength big, fast, can guarantee the modification mode of profile smoothness.
The technical scheme of the invention is as follows:
a wax therapy manipulator comprises a rack and a shaping mechanism which are fixedly arranged, and further comprises a mechanical arm arranged on the rack and a gripping seat arranged at the tail end of the mechanical arm;
a wax block is fixed on the grasping seat, and the mechanical arm is used for driving the grasping seat to realize space movement;
the shaping mechanism comprises a blade and a material receiving box; the material receiving box is positioned below the blade and used for containing wax materials which are moved by the blade and are placed below the wax block when the wax block moves relative to the blade.
As a further improvement of the mechanical hand: the mechanical arm comprises a first driving arm, a second driving arm, a first driven arm and a second driven arm;
the first driving arm and the second driving arm are both arc-shaped and are arranged on the rack in a sliding fit mode so as to realize rotation relative to the rack in a vertical plane; the rotating axis of the first driving arm is coincided with the rotating axis of the second driving arm;
the rack is also provided with two groups of driving mechanisms which are respectively used for driving the first driving arm and the second driving arm to rotate;
a rotating shaft arranged at the upper end of the first driven arm is matched with a first linear rotating bushing arranged along the front-back direction and arranged at the lower end of the first driving arm, so that the first driven arm can rotate and move back and forth relative to the first driving arm; the lower end of the second driving arm is provided with a front-back moving mechanism, the upper end of the second driven arm is rotatably connected with the front-back moving mechanism so as to realize the rotation of the second driven arm relative to the second driving arm, and the front-back moving mechanism is used for driving the second driven arm to move front and back relative to the second driving arm;
the lower end of the first driven arm is rotatably connected with the lower end of the second driven arm and is also rotatably connected with the upper end of the gripping seat, and the axes of the two rotary connections coincide.
As a further improvement of the mechanical hand: the outer edges of the first driving arm and the second driving arm are respectively provided with gear teeth which are uniformly distributed, the driving mechanism is a driving gear installed on the rack, and the driving gear is meshed with the gear teeth on the driving arms on the same side.
As a further improvement of the mechanical hand: arc-shaped bulges arranged around respective rotating axes are respectively arranged on the first driving arm and the second driving arm, and the arc-shaped bulges are matched with guide wheels arranged on the rack so as to realize sliding fit between the first driving arm and the rack and between the second driving arm and the rack.
As a further improvement of the mechanical hand: the front-back moving mechanism comprises a threaded sleeve which is arranged at the lower end of the second driving arm through a supporting bearing, a driven belt wheel is arranged on the threaded sleeve, and a threaded hole is formed in the threaded sleeve;
the front-back moving mechanism further comprises a threaded shaft matched with the threaded hole, the front end of the threaded shaft is fixedly connected with a connecting plate, a guide shaft is mounted on the connecting plate, and the guide shaft is in sliding fit with a guide hole in the second driving arm; the threaded shaft and the guide shaft are arranged in a front-back direction; the upper end of the second driven arm is rotatably connected with the front end of the threaded shaft;
the front-back moving mechanism also comprises a driving belt wheel arranged on the frame, and the driving belt wheel is connected with the driven belt wheel through a transmission belt; the axis of the driving belt wheel is coincided with the rotation axis of the first driving arm.
As a further improvement of the mechanical hand: the front-back moving mechanism also comprises a tensioning mechanism which is arranged at the lower end of the second driving arm and used for tensioning the transmission belt;
the tensioning mechanism comprises sliding blocks symmetrically arranged on two sides of the transmission belt, and the sliding blocks are matched with sliding grooves in the second driving arm; each sliding block is provided with a tension wheel which is in contact with the transmission belt;
the tensioning mechanism further comprises a worm, a worm wheel and a bidirectional screw rod; the external threads at the two ends of the bidirectional screw rod are opposite in rotating direction, and the external threads at the two ends are respectively matched with the threaded holes in the two sliding blocks; the worm wheel is fixed in the middle of the bidirectional screw rod, and the bidirectional screw rod is installed on the second driving arm in a rotating connection mode; the worm is installed on the second driving arm in a rotating connection mode and meshed with the worm wheel.
As a further improvement of the mechanical hand: the device also comprises a telescopic rod, a second linear rotating bush and a swinging shaft;
the lower end of the telescopic rod is fixedly connected with the grasping seat;
the second linear rotating bushing is arranged on the rack, and the axis of the second linear rotating bushing is overlapped with the rotation axis of the first driving arm; the swing shaft is arranged in the second linear rotating bush, and the front end of the swing shaft is provided with a through hole in sliding fit with the upper end of the telescopic rod;
the upper part of the telescopic rod is also provided with an upper limiting ring and a lower limiting ring which are respectively positioned on the upper side and the lower side of the through hole.
As a further improvement of the mechanical hand: the grabbing seat is provided with a conical cylinder with a conical through hole, the wax block is installed in the conical cylinder, the lower end of the wax block extends out of the conical cylinder, and the gland is installed above the conical cylinder.
As a further improvement of the mechanical hand: a bracket is arranged on the frame; the shaping mechanism further comprises an air cylinder arranged on the support, an extension rod of the air cylinder extends back and forth, the front end of the extension rod is connected with a mounting seat, and the blade and the material receiving box are both arranged on the mounting seat;
and an electric heating wire is paved on the blade.
The invention also provides a using method of the manipulator, which comprises a shaping step and a pressing step which are alternately carried out;
the modification step comprises the following steps: the grasping seat is controlled to rise, the blade and the material receiving box are driven to move forwards through the air cylinder, and then the two driving arms are controlled to synchronously rotate at a constant speed, so that the wax block is contacted with the blade while rotating, the arc cutting and shaping are realized, and cut wax materials fall into the material receiving box; when the wax block is contacted with the blade, the blade with the electric heating wire heats the wax block; after cutting, the cylinder is recovered, and then the pressing step is carried out;
the pressing step is as follows: controlling the grasping seat to move to enable the wax block to move to a preset target position, and controlling the wax block to move back and forth and left and right according to a preset speed to realize massage operation; after the preset time, the step is switched to the step of modifying the model.
Compared with the prior art, the invention has the following beneficial effects: (1) the manipulator is adopted to replace manual operation, so that the labor cost is reduced, the labor intensity is reduced, the treatment efficiency is improved, and the force and the speed are controllable; (2) the parallel manipulator structure has the advantages of good rigidity and high moving speed; (3) two sets of initiative arms are coaxial circular-arc, and this structure is very ingenious: on one hand, the structure can still realize a parallel manipulator structure with two degrees of freedom and five rod pieces, on the other hand, when in modification, two driving motors synchronously rotate at a constant speed to drive the wax block to rotate around a main axis (namely the rotating axes of a first driving arm and a second driving arm) and complete modification, so that the control is simple (only two driving gears synchronously rotate), and the mode can realize quick and accurate circular rotation of the wax block (instead of utilizing a mechanical arm to carry out motion synthesis), so that the smoothness of a cutting surface is ensured, and the driving torque during rotation is ensured to be enough to meet the cutting requirement (the torque is amplified by the meshing of the driving gears and gear teeth on the driving arms, and according to the lever principle, when the wax block is lifted to a position close to the main axis, the cutting force can be further amplified); (4) the front and back synchronous movement of the two driven arms is realized by adopting a threaded transmission mechanism, and meanwhile, the characteristic that the two circular arc driving arms are coaxial all the time is reused, the driving belt wheel is arranged at the main axis, the distance between the two belt wheels is constant all the time no matter how the driving arm and the driven arms move, the stable and reliable belt transmission is ensured, the corner of the driving belt wheel can be compensated according to the angle (controllable) of the driving arm at the side, the control of the front and back movement is separated from the control of the driving arm, and the control is simple and convenient; (5) the symmetrical tensioning structure is adopted to tension the transmission belt, so that the stress states of the belt wheel are kept consistent when the belt wheel rotates forwards and backwards, the mechanism response is more timely, and the transmission is more accurate; (6) the tensioning mechanism can prevent the two tensioning wheels from loosening by utilizing the self-locking characteristic of the worm gear mechanism; (7) the angle of grabbing the seat can be confirmed with the perpendicular crossing telescopic link of main axis all the time, moreover based on aforementioned coaxial design, when the wax stone is worked in the region of keeping away from the main axis, the swing interval of telescopic link is very little to when the wax stone is nearer apart from the main axis, carry out the modification, can cover the required swing angle interval of wax stone work in only needing less activity space.
Drawings
Fig. 1 is a schematic view of the entire structure of the manipulator.
Fig. 2 is a partial structure schematic diagram of the driving gear, the gear teeth on the driving arm, the arc-shaped protrusions and the guide wheel part.
Fig. 3 is a schematic diagram of a connection structure between the second driving arm, the second driven arm, and the forward-backward movement mechanism.
Figure 4 is a schematic view of the connection between the first master arm and the first slave arm.
Fig. 5 is a schematic structural view of the tensioning mechanism.
FIG. 6 is a schematic view of the structure of the grip seating portion.
Fig. 7 is a schematic view of the layout structure of the upper and lower ends of the telescopic rod respectively connected with the frame and the gripping seat.
FIG. 8 is a side view of the shaping mechanism and the bracket.
Fig. 9 is a schematic view of the manipulator carrying wax blocks for operation in a lower workspace.
Fig. 10 is a schematic diagram of the manipulator driving the wax block to wait for modification in a higher working space.
The parts in the figures comprise:
1. the device comprises a frame, 2, a first driving arm, 3, a second driving arm, 4, a first driven arm, 5, a second driven arm, 6, a gripping seat, 7, a wax block, 8, a front-back moving mechanism, 9, a support, 10, a shaping mechanism, 11, a telescopic rod, 12, a driving gear, 13, a guide wheel, 14, a second linear rotating bushing, 15, a swinging shaft, 16, an upper limiting ring, 17, a lower limiting ring, 18, a first linear rotating bushing, 2-1, an arc-shaped bulge, 6-1, a conical cylinder, 6-2, a gland, 8-1, a driving pulley, 8-2, a transmission belt, 8-3, a driven pulley, 8-4, a threaded sleeve, 8-5, a supporting bearing, 8-6, a threaded shaft, 8-7, a guide shaft, 8-8, a connecting plate, 8-9, a tension pulley, 8-10, a connecting plate, a clamping plate, 8-11 parts of a sliding block, 8-12 parts of a bidirectional screw rod, 8-13 parts of a worm wheel, 10-1 parts of a worm, 10-2 parts of a cylinder, 10-3 parts of a mounting seat, 10-4 parts of a blade and a material receiving box.
Detailed Description
The technical scheme of the invention is explained in detail in the following with the accompanying drawings:
referring to fig. 1, a wax therapy manipulator comprises a frame 1 fixedly arranged, wherein the frame 1 is of a steel beam structure and can be hung on a ceiling or mounted on a support frame.
The manipulator further comprises a mechanical arm arranged on the rack 1 and a holding seat 6 arranged at the tail end of the mechanical arm, a wax block 7 is fixed on the holding seat 6, and the mechanical arm is used for driving the holding seat 6 and the wax block 7 to move left and right, up and down and back and forth in a three-dimensional space.
The mechanical arm comprises a first driving arm 2, a second driving arm 3, a first driven arm 4 and a second driven arm 5.
The first driving arm 2 and the second driving arm 3 are both arc-shaped and are both installed on the rack 1 in a sliding fit mode so as to realize rotation relative to the rack 1 in a vertical plane. The specific structure is as shown in fig. 2, the first driving arm 2 and the second driving arm 3 are respectively provided with an arc-shaped protrusion 2-1 which is arranged around the respective rotation axis and protrudes to the rear side or the front side, and the arc-shaped protrusion 2-1 is matched with a guide wheel 13 arranged on the rack 1 so as to realize the sliding fit between the first driving arm 2 and the second driving arm 3 and the rack 1. Preferably, for each driving arm, the guide wheel 13 is four rolling bearings, one group of two rolling bearings, and two groups of two rolling bearings are respectively arranged on two sides of the arc-shaped bulge 2-1.
Further, as shown in fig. 1, the rotation axis of the first driving arm 2 coincides with the circular arc-shaped axis thereof, the rotation axis of the second driving arm 3 coincides with the circular arc-shaped axis thereof, the rotation axes of the first driving arm 2 and the second driving arm 3 both move in the front-back direction, the rotation axes of the first driving arm and the second driving arm coincide with the middle of the frame 1, and the coincident rotation axis is set as the main axis of the mechanical arm.
And the rack 1 is also provided with two groups of driving mechanisms which are respectively used for driving the first driving arm 2 and the second driving arm 3 to rotate around the main axis. Specifically, the outer edges of the first driving arm 2 and the second driving arm 3 are respectively provided with gear teeth (omitted in the drawing) uniformly distributed around the circumference of the main axis, taking the first driving arm 2 side in fig. 2 as an example, the driving mechanism is a driving gear 12 installed on the rack 1, and the driving gear 12 is engaged with the gear teeth on the driving arm on the same side. The driving structure of the second active arm 3 is the same as that of the first active arm 2. The driving gear 12 is driven by a stepping motor or a servo motor to rotate, and drives the corresponding driving arm to rotate around the main axis relative to the frame 1.
As shown in fig. 1 and 4, the rotation shaft mounted on the upper end of the first driven arm 4 is matched with a first linear rotation bush 18 mounted on the lower end of the first driving arm 2 and arranged in the front-rear direction, the linear rotation bush may be ST series of IKO, japan, and the linear rotation bush may be provided with balls and a retainer therein, and a shaft member passing through the linear rotation bush may be linearly moved or rotationally moved, so that the first driven arm 4 can be freely rotated (a rotary joint function) with respect to the first driving arm 2 without preventing the first driven arm 4 from freely moving in the front-rear direction.
As shown in fig. 1 and 3, a forward-backward movement mechanism 8 is provided for driving the second driven arm 5 to move forward and backward relative to the second driving arm 3; meanwhile, the upper end of the second driven arm 5 is also rotatably connected with the back-and-forth movement mechanism 8 so as to realize the rotation of the second driven arm 5 relative to the second driving arm 3.
Specifically, the front-back moving mechanism 8 comprises a threaded sleeve 8-4 which is arranged at the lower end of the second driving arm 3 through a support bearing 8-5, a driven belt wheel 8-3 is arranged at the rear end of the threaded sleeve 8-4, and a threaded hole is formed in the threaded sleeve 8-4; the front-back moving mechanism 8 further comprises a threaded shaft 8-6 matched with the threaded hole, the front end of the threaded shaft 8-6 is fixedly connected with a connecting plate 8-8 in a welding mode, a smooth guide shaft 8-7 is mounted on the connecting plate 8-8, the guide shaft 8-7 is in sliding fit with a guide hole which is formed in the second driving arm 3 and is communicated with the front and the back, the threaded shaft 8-6 and the guide shaft 8-7 are arranged in a front-back direction, and the guide shaft 8-7 guides a threaded sleeve 8-4 to move back and forth relative to the second driving arm 3 and cannot rotate. The upper end of the second driven arm 5 is rotatably connected with the front ends of the threaded shafts 8-6 through a deep groove ball bearing and an end face bearing.
The front-back moving mechanism 8 further comprises a driving belt wheel 8-1 arranged on the rear side of the rack 1, and the driving belt wheel 8-1 is connected with a driven belt wheel 8-3 through a transmission belt 8-2; the axis of the driving pulley 8-1 coincides with the rotation axis of the first driving arm 2 (i.e. the main axis of the robot arm). The driving belt wheel 8-1 is driven by the other motor to rotate, and the threaded sleeve 8-4 is driven to rotate through the driving belt 8-2 and the driven belt wheel 8-3, so that the threaded column and the second driven arm 5 move back and forth. The characteristic that the two arc driving arms are coaxial all the time is utilized, the driving belt wheel 8-1 is installed on the main axis, the distance between the two belt wheels is constant all the time no matter how the driving arm and the driven arm move, and stable and reliable belt transmission is ensured.
As shown in fig. 1 and 5, the forward and backward moving mechanism 8 further comprises a tensioning mechanism mounted at the lower end of the second driving arm 3 for tensioning the transmission belt 8-2; the tensioning mechanism comprises sliding blocks 8-10 which are symmetrically arranged on two sides of the transmission belt 8-2, the sliding blocks 8-10 are matched with sliding grooves in the second driving arm 3, and the direction of the sliding grooves is perpendicular to a plane formed by the axis of the driving belt wheel 8-1 and the axis of the driven belt wheel 8-3. And a tension wheel 8-9 which is contacted with the transmission belt 8-2 is respectively arranged on each slide block 8-10. The tensioning mechanism further comprises a worm 8-13, a worm wheel 8-12 and a bidirectional screw rod 8-11. The external threads at the two ends of the bidirectional screw rod 8-11 are opposite in rotating direction, and the external threads at the two ends are respectively matched with the threaded holes in the two sliding blocks 8-10. The worm wheel 8-12 is mounted in the middle of the bidirectional screw rod 8-11 through key connection. The bidirectional screw rods 8-11 are arranged on the second driving arm 3 in a rotating connection mode, and the rotating connection mode is as follows: bearings (not shown) are mounted at both ends of the bidirectional screw rods 8-11, and the bearings are mounted on the side wall of the second driving arm 3. The worm 8-13 is mounted on the second driving arm 3 in a rotatable connection with the worm wheel 8-12, where the rotatable connection is also achieved by mounting a bearing at the end of the worm 8-13. The self-locking characteristic of the worm and gear mechanism is utilized, the two tensioning wheels 8-9 can be prevented from loosening, meanwhile, the symmetrical tensioning structure is adopted to tension the transmission belt 8-2, so that the stress states of the belt wheel in forward and reverse rotation are kept consistent, the mechanism response is more timely, and the transmission is more accurate.
As shown in fig. 6, the lower end of the first driven arm 4 is rotatably connected with the lower end of the second driven arm 5, and is also rotatably connected with the upper end of the gripping seat 6, and the axes of the two rotary connections coincide.
Therefore, the vertical and horizontal movement control of the gripping seat 6 can be realized by controlling the positions of the two driving arms, and the overall front and back movement of the two driven arms and the gripping seat 6 can be realized by the front and back movement mechanism 8. However, in order to avoid the free rotation of the grip holder 6 from affecting the massage operation, it is also necessary to control the angle of the grip holder 6. As shown in fig. 6 and 7, the robot arm further comprises a telescopic rod 11 perpendicular to the main axis, and the lower end of the telescopic rod 11 is fixedly connected with the gripping seat 6. The telescopic rod 11 is positioned at the front side of the frame 1. A second linear rotating bushing 14 is mounted on the frame 1, and an axis of the second linear rotating bushing 14 coincides with a rotation axis of the first driving arm 2 (i.e., a main axis of the mechanical arm); the second linear rotation bushing 14 is provided with a swing shaft 15, and the driving pulley 8-1 may be designed to have a central through hole in order to reserve a space for the swing shaft 15 to move forward and backward. The front end of the swinging shaft 15 is provided with a through hole which is in sliding fit with the upper end of the telescopic rod 11. The upper part of the telescopic rod 11 is also provided with an upper limiting ring 16 and a lower limiting ring 17 which are respectively positioned on the upper side and the lower side of the through hole, so that the upper end of the telescopic rod 11 is prevented from being separated from the swinging shaft 15. When the grasping seat 6 moves in the space, the telescopic rod 11 can move back and forth, stretch and swing left and right along with the grasping seat, and meanwhile, under the constraint of the swing shaft 15, the axis of the telescopic rod 11 is always vertically intersected with the main axis, so that the aim of controlling the angle of the grasping seat 6 is fulfilled.
As shown in figure 6, a conical cylinder 6-1 with a conical through hole is arranged on the gripping seat 6, the wax block 7 is arranged in the conical cylinder 6-1, the lower end of the wax block extends out of the conical cylinder 6-1, and a gland 6-2 is arranged above the conical cylinder 6-1. The bottom of the wax block 7 is arc-shaped.
As shown in FIG. 1, a support 9 is mounted on the frame 1, and a shaping mechanism 10 is mounted at the bottom of the support 9. As shown in fig. 8, the shaping mechanism 10 includes an air cylinder 10-1 mounted on the support 9, an extension rod of the air cylinder 10-1 extends back and forth, and a mounting seat 10-2 is connected to the front end of the extension rod. The modification mechanism 10 further comprises a blade 10-3 and a material receiving box 10-4 positioned below the blade 10-3, wherein the blade 10-3 and the material receiving box 10-4 are both arranged on the mounting seat 10-2, and the material receiving box 10-4 is used for containing wax materials cut by the blade 10-3 when the wax block 7 moves relative to the blade 10-3. Preferably, an electric heating wire is paved on the blade 10-3.
The device is controlled by a controller based on STM32, and can also be controlled by a PLC. The executive component mainly comprises two motors for controlling the rotation of the driving arm, one motor for controlling the front-back moving mechanism 8 and one cylinder 10-1 for controlling the shaping mechanism 10. An origin is selected on a main axis, the left-right direction is taken as the x-axis direction, the up-down direction is taken as the y-axis direction, and a space rectangular coordinate system is established. The corresponding relation between the rotation angles of the two driving arms and the x and y coordinates of the rotating connection point at the top of the holding seat 6 can be obtained through kinematic analysis, and the holding seat 6 can move up and down and left and right by controlling the rotation of the two driving arms. Meanwhile, the control angle of the driven pulley 8-3 is compensated according to the rotation angle of the second driving arm 3, so that the driven arm is prevented from moving forwards and backwards due to unplanned relative rotation between the driven pulley 8-3 and the second driving arm 3.
Before the operation, the patient lies below the manipulator, and the teaching is carried out through a teaching box connected with a controller: the grasping seat 6 is controlled to move to the position needing massage, and the controller records the current position posture of the manipulator.
Then, the bottom of the wax block 7 is initially reshaped, namely, the reshaping step is executed: the gripping seat 6 is controlled to be raised to the required height as shown in figure 10, the blade 10-3 and the material receiving box 10-4 are controlled to move forwards through the air cylinder 10-1, then the two driving arms are controlled to rotate synchronously at a constant speed, the wax block 7 rotates around the main axis and is simultaneously contacted with the blade 10-3, the circular arc cutting modification is realized, and cut wax materials fall into the material receiving box 10-4. At the moment, the moment is amplified by the meshing of the driving gear 12 and the gear teeth on the driving arm, and according to the lever principle, the cutting force can be further amplified because the wax block 7 is closer to the main axis, so that the blade 10-3 can rapidly cut off a layer at the bottom of the wax block 7 to form a new massage arc surface. On the other hand, since the mechanical arm is driven by the two driving gears 2 rotating at the same speed to rotate, the whole mechanical arm is equivalent to a rigid body instead of the rotation realized by the motion composition, and the formed arc surface is smoother. When the wax block 7 is in contact with the blade 10-3, the blade 10-3 with the electric heating wire can also heat the wax block 7 to accelerate the subsequent melting thereof. After cutting, the cylinder 10-1 is recovered and the pressing step is carried out.
Then, as shown in fig. 9, the pressing steps are as follows: the manipulator moves under the control of the controller, so that the wax block 7 reaches the position of a target acupuncture point recorded in advance, and then the front, back, left and right movement of the wax block is controlled according to the preset speed, thereby realizing massage. The skin surface of the patient can be coated with essential oil for assistance. It should be noted that the controller should compensate the y-axis coordinate value of the target acupoint according to the height of the wax block 7 during the modification, that is, the wax block 7 is lower than the position at the time of initially recording the acupoint, and compensate the removed part of the modification. After the preset duration, the shape of the bottom of the wax block 7 is changed, and the manipulator is transferred to the shaping step again. The height of the wax block 7 should be lower than that of the last modification. Also, after the reshaping, the height of the wax-block 7 needs to be lower to ensure contact with the skin.
The shaping step and the pressing step are alternately carried out.
The wax block 7 needs to be replaced after being shaped for a plurality of times. The beeswax liquid medicine mixture can also be injected into the cone cylinder 6-1 in a heating mode, and the liquid beeswax liquid medicine mixture is cooled into a whole and is free from replacement.
Claims (8)
1. A wax therapy manipulator is characterized in that: the device comprises a rack (1) and a shaping mechanism (10) which are fixedly arranged, and also comprises a mechanical arm arranged on the rack (1) and a gripping seat (6) arranged at the tail end of the mechanical arm;
a wax block (7) is fixed on the grasping seat (6), and the mechanical arm is used for driving the grasping seat (6) to realize space movement;
the shaping mechanism (10) comprises a blade (10-3) and a material receiving box (10-4); the material receiving box (10-4) is positioned below the blade (10-3) and is used for containing wax materials which are separated from the blade (10-3) when the wax block (7) moves relative to the blade (10-3);
the mechanical arm comprises a first driving arm (2), a second driving arm (3), a first driven arm (4) and a second driven arm (5);
the first driving arm (2) and the second driving arm (3) are both arc-shaped and are both installed on the rack (1) in a sliding fit mode so as to realize rotation relative to the rack (1) in a vertical plane; the rotating axis of the first driving arm (2) is coincided with the rotating axis of the second driving arm (3);
the rack (1) is also provided with two groups of driving mechanisms which are respectively used for driving the first driving arm (2) and the second driving arm (3) to rotate;
a rotating shaft arranged at the upper end of the first driven arm (4) is matched with a first linear rotating bushing (18) arranged along the front-back direction and arranged at the lower end of the first driving arm (2) so as to realize the rotation and the front-back movement of the first driven arm (4) relative to the first driving arm (2); the lower end of the second driving arm (3) is provided with a front-back moving mechanism (8), the upper end of the second driven arm (5) is rotatably connected with the front-back moving mechanism (8) to realize the rotation of the second driven arm (5) relative to the second driving arm (3), and the front-back moving mechanism (8) is used for driving the second driven arm (5) to move back and forth relative to the second driving arm (3);
the lower end of the first driven arm (4) is rotatably connected with the lower end of the second driven arm (5) and is provided with a first rotating connecting shaft, the lower end of the first driven arm (4) is also rotatably connected with the upper end of the gripping seat (6) and is provided with a second rotating connecting shaft, and the axes of the first rotating connecting shaft and the second rotating connecting shaft are coincided;
the front-back moving mechanism (8) comprises a threaded sleeve (8-4) arranged at the lower end of the second driving arm (3) through a supporting bearing (8-5), a driven belt wheel (8-3) is arranged on the threaded sleeve (8-4), and a threaded hole is formed in the threaded sleeve (8-4);
the front-back moving mechanism (8) further comprises a threaded shaft (8-6) matched with the threaded hole, a connecting plate (8-8) is fixedly connected to the front end of the threaded shaft (8-6), a guide shaft (8-7) is mounted on the connecting plate (8-8), and the guide shaft (8-7) is in sliding fit with a guide hole in the second driving arm (3); the threaded shaft (8-6) and the guide shaft (8-7) are arranged in the front-back direction; the upper end of the second driven arm (5) is rotatably connected with the front end of the threaded shaft (8-6);
the front-back moving mechanism (8) further comprises a driving belt wheel (8-1) arranged on the rack (1), and the driving belt wheel (8-1) is connected with a driven belt wheel (8-3) through a transmission belt (8-2); the axis of the driving belt wheel (8-1) is coincided with the rotation axis of the first driving arm (2).
2. The keritherapy manipulator of claim 1, wherein: the outer edges of the first driving arm (2) and the second driving arm (3) are respectively provided with gear teeth which are uniformly distributed, the driving mechanism is a driving gear (12) installed on the rack (1), and the driving gear (12) is meshed with the gear teeth on the driving arms on the same side.
3. The keritherapy manipulator of claim 1, wherein: arc-shaped bulges (2-1) arranged around respective rotating axes are respectively arranged on the first driving arm (2) and the second driving arm (3), and the arc-shaped bulges (2-1) are matched with guide wheels (13) arranged on the rack (1) to realize sliding fit between the first driving arm (2) and the rack (1) and between the second driving arm (3) and the rack (1).
4. The keritherapy manipulator of claim 1, wherein: the front-back moving mechanism (8) further comprises a tensioning mechanism which is arranged at the lower end of the second driving arm (3) and used for tensioning the transmission belt (8-2);
the tensioning mechanism comprises a first sliding block (8-10) and a second sliding block (8-10) which are symmetrically arranged on two sides of the transmission belt (8-2), and the first sliding block (8-10) and the second sliding block (8-10) are matched with sliding grooves in the second driving arm (3); tensioning wheels (8-9) which are in contact with the transmission belt (8-2) are respectively arranged on the first sliding blocks (8-10) and the second sliding blocks (8-10);
the tensioning mechanism also comprises a worm (8-13), a worm wheel (8-12) and a bidirectional screw rod (8-11); the external threads at two ends of the bidirectional screw rod (8-11) are opposite in rotating direction, the external thread at one end is matched with the threaded hole of the first sliding block (8-10), and the external thread at the other end is matched with the threaded hole of the second sliding block (8-10); the worm wheel (8-12) is fixed in the middle of the bidirectional screw rod (8-11), and the bidirectional screw rod (8-11) is installed on the second driving arm (3) in a rotating connection mode; the worm (8-13) is installed on the second driving arm (3) in a rotating connection mode and meshed with the worm wheel (8-12).
5. The keritherapy manipulator of claim 1, wherein: the device also comprises a telescopic rod (11), a second linear rotating bush (14) and a swinging shaft (15);
the lower end of the telescopic rod (11) is fixedly connected with the gripping seat (6);
the second linear rotating bushing (14) is installed on the rack (1), and the axis of the second linear rotating bushing (14) is coincided with the rotation axis of the first driving arm (2); the swing shaft (15) is arranged in the second linear rotating bush (14), and the front end of the swing shaft (15) is provided with a through hole in sliding fit with the upper end of the telescopic rod (11);
the upper part of the telescopic rod (11) is also provided with an upper limiting ring (16) and a lower limiting ring (17) which are respectively positioned on the upper side and the lower side of the through hole.
6. The keritherapy manipulator of claim 1, wherein: the gripping seat (6) is provided with a conical cylinder (6-1) with a conical through hole, the wax block (7) is installed in the conical cylinder (6-1), the lower end of the wax block extends out of the conical cylinder (6-1), and a gland (6-2) is installed above the conical cylinder (6-1).
7. The keritherapy manipulator of claim 5, wherein: a bracket (9) is arranged on the frame (1); the shaping mechanism (10) further comprises an air cylinder (10-1) arranged on the support (9), an extension rod of the air cylinder (10-1) extends back and forth, the front end of the extension rod is connected with a mounting seat (10-2), and the blade (10-3) and the material receiving box (10-4) are both arranged on the mounting seat (10-2);
electric heating wires are paved on the blades (10-3).
8. A method of using the kerotherapy manipulator of claim 7, wherein: comprises a shaping step and a pressing step which are alternately carried out;
the modification step comprises the following steps: the grabbing seat (6) is controlled to be lifted, the blade (10-3) and the material receiving box (10-4) are driven to move forwards through the air cylinder (10-1), then the first driving arm (2) and the second driving arm (3) are controlled to synchronously rotate at a constant speed, the wax block (7) is contacted with the blade (10-3) while rotating, the arc cutting and shaping are realized, and cut wax materials fall into the material receiving box (10-4); when in contact, the blade (10-3) with the electric heating wire heats the wax block (7); after cutting, the air cylinder (10-1) is recovered, and then the pressing step is carried out;
the pressing step is as follows: the grasping seat (6) is controlled to move, so that the wax block (7) moves to a preset target position, and then the wax block (7) is controlled to move back and forth and left and right according to a preset speed, so that the massage operation is realized; after the preset time, the step is switched to the step of modifying the model.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010094809.0A CN110917490B (en) | 2020-02-17 | 2020-02-17 | Wax therapy manipulator and using method thereof |
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| CN202010094809.0A CN110917490B (en) | 2020-02-17 | 2020-02-17 | Wax therapy manipulator and using method thereof |
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| CN110917490B true CN110917490B (en) | 2020-05-22 |
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| CN112497230B (en) * | 2021-02-01 | 2021-05-07 | 烟台慧博特产业研究院有限公司 | Massage physical therapy manipulator for wax therapy and use method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2004097459A (en) * | 2002-09-09 | 2004-04-02 | Family Kk | Massage machine |
| JP5999975B2 (en) * | 2012-05-16 | 2016-09-28 | 康彦 飯田 | Handy roller massager |
| CN108578189A (en) * | 2015-10-15 | 2018-09-28 | 韩振利 | Crank-rocker style convolution rubs massage mechanism |
| CN206733021U (en) * | 2017-04-22 | 2017-12-12 | 尤凤侠 | Intelligent automatic bonesetting manipulator of massaging |
| CN207915552U (en) * | 2018-02-06 | 2018-09-28 | 湖北泰康医疗设备有限公司 | A kind of quick trimming device of novel wax stone |
| CN110339045B (en) * | 2019-08-09 | 2024-06-28 | 武汉芮海医疗科技有限公司 | Vibration massage and moxibustion robot device |
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